Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 140 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_C 6.0000002e-06 ROLL_MAX 3841 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 140 ESCAPE_HEADING 120 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1030 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 21 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 15 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.93000001

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2951 DEVICE2 -1

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 330 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 400 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 2 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 300 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 225 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3900 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 150 C_PITCH 2550 MINV_10V 12 SEABIRD_T_G 0.0042903274

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00062837056

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_24V 0 SEABIRD_T_I 2.3004332e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.3253908e-06

RHO 1.0275 P_OVSHOOT_WITHG 0 PRESSURE_YINT -50.214073 SEABIRD_C_G -9.879467

MASS 52059 PITCH_GAIN 13 PRESSURE_SLOPE 0.0001163556 SEABIRD_C_H 1.1201456

MASS_COMP 0 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_I -0.00035123606

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00012622437

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0043000001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_AD_RATE 175 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.0046000001 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 21 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 15 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 140 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1030 N_DIVES 0 SEABIRD_C_G -9.879467 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_FILEKB 4 SEABIRD_C_H 1.1201456 VBD_TIMEOUT 720

D_CALL 3 N_GPS 20 SEABIRD_C_I -0.00035123606 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00012622437 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0042903274 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_T_H 0.00062837056 XPDR_VALID 4

D_OFFGRID 300 PHONE_SUPPLY -2 SEABIRD_T_I 2.3004332e-05

Pre-dive calculations and measurements:

GPS1 010115,173233,6659.804,-5648.198,37,0.9,42,-32.5 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.99 MHEAD_RNG_PITCHd_Wd 0.8,5941,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -58.9 D_GRID 513

GPS2 010115,173831,6659.792,-5648.066,6,0.9,6,-32.5

Post-dive calculations and measurements:

FREEZE 1.33,-1.007,-0.965,0,1,0 SC_FREEKB 7725120

FINISH 1.3,1.014245 _24V_AH 12.96,31.645

SM_CCo 10445,94.12,0.157,0,0,1523,350.04 _10V_AH 13.32,0.000

SM_GC 2.17,7.68,0.30,94.12,0.093,0.149,0.157,199,2548,1523,-10.66,-0.59,350.04,0,0,0,0,0,0,14.78,14.71,14.60 FG_AHR_24Vo 0.000

RAFOS_CLK 1564 FG_AHR_10Vo 0.000

RAFOS 0,1420142471,20.033333,20.019722,68,65,57,53,51,49,215,121,195,167,140,109 MEM 271024

RAFOS_FIX 6704.674805,-5657.331543,010115,161656,2,118,1.29 DATA_FILE_SIZE 20051,618

IRIDIUM_FIX 6625.71,-5652.12,010115,140922 CAP_FILE_SIZE 108144,1

TT8_MAMPS 0.025466,0.025466 CFSIZE 260034560,242946048

HUMID 44.68 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0

INTERNAL_PRESSURE 8.48888 INTR 0,12318.30,0x23769e,7,5

TCM_TEMP 13.60 SOUNDSPEED 1467.0

XPDR_PINGS 3 CURRENT 0.068,138.40,1

ALTIM_TOP_PING 19.6,19.2 GPS 010115,203604,6700.690,-5649.509,33,0.8,33,-32.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 462 123.51 nil 0 0 0.00

Roll_motor 60 149 116.92 nil 0 0 0.00

VBD_pump_during_apogee 323 2083 8738.23 nil 0 0 0.00

VBD_pump_during_surface 94 156 191.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 10432 7 965.18

Iridium_during_xfer 231 148 444.88 nil 0 0 0.00

Transponder_ping 1 420 5.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 30 5.17

TT8 1461 11 223.32

LPSleep 7506 2 230.98

TT8_Active 596 11 91.16

TT8_Sampling 1225 30 505.02

TT8_CF8 127 36 61.62

TT8_Kalman 0 0 0.00

Analog_circuits 1336 11 195.89

GPS_charging 0 0 0.00

Compass 924 6 73.86

RAFOS 1440 1 28.77

Transponder 2 30 1.05

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.60 -146.0 201 2559 1521 1521 0.0 0.0 0 125 0.00 0.00 -103.35 0.000 16386 0.000 0.000 201 2559 3348 3324 3373 0 0 0 0 0 0 28.83 28.83 28.83

127 -1.60 -146.0 201 2560 3327 3372 3.2 -2.0 10 151 9.98 2.58 -5.88 0.000 18948 0.462 0.122 2192 1141 3549 3544 3554 0 0 0 0 0 0 14.35 14.51 14.73

327 -1.57 -146.0 2192 1141 3549 3554 30.5 -12.6 49 335 0.10 2.55 0.00 0.000 3078 0.331 0.117 2203 2549 3552 3550 3554 0 0 0 0 0 0 14.47 14.54 28.83

633 -1.57 -146.0 2203 2549 3549 3553 67.8 -12.2 65 639 0.00 2.42 0.00 0.000 260 0.000 0.142 2194 3833 3551 3549 3554 0 0 0 0 0 0 28.83 14.59 28.83

716 -1.54 -146.0 2195 3833 3550 3553 78.2 -12.5 81 723 0.00 2.20 0.00 0.000 1030 0.000 0.063 2194 2538 3551 3548 3554 0 0 0 0 0 0 28.83 14.66 28.83

1040 -1.54 -146.0 2194 2538 3550 3553 111.2 -9.4 100 1045 0.00 2.40 0.00 0.000 516 0.000 0.100 2194 1149 3550 3549 3552 0 0 0 0 0 0 28.83 14.66 28.83

1167 -1.54 -146.0 2194 1149 3549 3551 124.0 -10.5 125 1173 0.12 2.53 0.00 0.000 3078 0.322 0.116 2213 2560 3550 3549 3551 0 0 0 0 0 0 14.56 14.65 28.83

1486 -1.57 -146.0 2213 2559 3549 3548 153.2 -9.1 143 1492 0.00 2.47 0.00 0.000 516 0.000 0.103 2214 1147 3549 3550 3549 0 0 0 0 0 0 28.83 14.68 28.83

1570 -1.57 -146.0 2213 1147 3549 3549 161.2 -9.9 159 1575 0.00 2.53 0.00 0.000 1030 0.000 0.120 2207 2552 3549 3549 3549 0 0 0 0 0 0 28.83 14.67 28.83

1893 -1.57 -146.0 2206 2553 3549 3549 190.8 -9.3 178 1894 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2553 3549 3549 3549 0 0 0 0 0 0 28.83 28.83 28.83

2193 -1.57 -146.0 2206 2553 3549 3549 219.3 -9.6 193 2194 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2552 3549 3549 3549 0 0 0 0 0 0 28.83 28.83 28.83

2493 -1.57 -146.0 2206 2553 3549 3549 246.6 -9.0 208 2499 0.00 2.45 0.00 0.000 516 0.000 0.103 2206 1140 3549 3549 3549 0 0 0 0 0 0 28.83 14.73 28.83

2550 -1.57 -146.0 2206 1140 3549 3549 252.0 -9.1 219 2557 0.00 2.53 0.00 0.000 1030 0.000 0.120 2200 2549 3549 3549 3549 0 0 0 0 0 0 28.83 14.71 28.83

2857 -1.57 -146.0 2200 2549 3550 3549 279.1 -8.5 230 2859 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2549 3549 3550 3549 0 0 0 0 0 0 28.83 28.83 28.83

3156 -1.57 -146.0 2200 2549 3550 3549 302.9 -7.7 240 3162 0.00 2.45 0.00 0.000 516 0.000 0.109 2200 1150 3550 3551 3549 0 0 0 0 0 0 28.83 14.75 28.83

3205 -1.57 -146.0 2200 1150 3551 3549 306.8 -8.3 249 3211 0.00 2.50 0.00 0.000 1030 0.000 0.122 2193 2550 3549 3550 3548 0 0 0 0 0 0 28.83 14.74 28.83

3526 -1.57 -146.0 2193 2550 3551 3549 332.1 -7.9 262 3527 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2549 3550 3551 3549 0 0 0 0 0 0 28.83 28.83 28.83

3824 -1.57 -146.0 2196 2550 3551 3549 355.7 -8.1 272 3825 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2547 3550 3552 3549 0 0 0 0 0 0 28.83 28.83 28.83

4124 -1.57 -146.0 2193 2550 3549 3556 380.5 -8.0 282 4125 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 2550 3548 3552 3544 0 0 0 0 0 0 28.83 28.83 28.83

4424 -1.57 -146.0 2193 2550 3552 3549 404.5 -7.9 292 4425 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2549 3550 3552 3549 0 0 0 0 0 0 28.83 28.83 28.83

4724 -1.57 -146.0 2193 2549 3552 3550 428.2 -8.0 302 4725 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2549 3551 3552 3551 0 0 0 0 0 0 28.83 28.83 28.83

5024 -1.57 -146.0 2193 2550 3554 3551 451.2 -7.4 312 5029 0.00 2.45 0.00 0.000 516 0.000 0.112 2193 1143 3552 3554 3550 0 0 0 0 0 0 28.83 14.78 28.83

5111 -1.57 -146.0 2194 1143 3554 3550 458.1 -8.5 329 5119 0.10 2.53 0.00 0.000 3078 0.330 0.125 2205 2552 3552 3554 3550 0 0 0 0 0 0 14.69 14.77 28.83

5419 -1.60 -146.0 2206 2552 3555 3551 480.5 -7.4 340 5420 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2552 3553 3554 3552 0 0 0 0 0 0 28.83 28.83 28.83

5718 -1.62 -146.0 2206 2552 3556 3553 502.7 -7.4 350 5723 0.00 2.47 0.00 0.000 516 0.000 0.113 2207 1143 3554 3556 3553 0 0 0 0 0 0 28.83 14.78 28.83

5765 -1.65 -146.0 2207 1143 3556 3552 506.4 -7.4 359 5771 0.00 2.53 0.00 0.000 1030 0.000 0.125 2200 2549 3554 3556 3553 0 0 0 0 0 0 28.83 14.77 28.83

5871 end dive: TARGET_DEPTH_EXCEEDED

state 5871 begin apogee

5876 -0.38 0.0 2200 2400 3555 3553 514.5 -7.7 365 6033 0.93 0.00 148.02 2.083 10246 0.245 0.000 2461 2400 2951 2973 2930 0 0 0 0 1 0 14.69 28.83 13.15

6034 end apogee: CONTROL_FINISHED_OK

state 6034 begin climb

6036 1.60 146.0 2462 2400 2973 2933 515.9 0.0 370 6203 1.45 0.00 155.20 2.081 10246 0.152 0.000 2901 2400 2356 2401 2311 0 0 0 0 1 0 13.87 28.83 12.96

6504 1.57 146.0 2901 2399 2401 2307 459.4 13.5 386 6505 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 2399 2354 2401 2307 0 0 0 0 0 0 28.83 28.83 28.83

6804 1.54 146.0 2901 2400 2399 2305 419.6 13.4 396 6805 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 2400 2352 2399 2305 0 0 0 0 0 0 28.83 28.83 28.83

7104 1.52 146.0 2901 2400 2397 2304 378.7 13.6 406 7109 0.00 2.70 0.00 0.000 260 0.000 0.147 2901 3814 2351 2397 2305 0 0 0 0 0 0 28.83 14.52 28.83

7181 1.45 146.0 2901 3814 2397 2305 366.7 15.8 421 7188 0.17 2.47 0.00 0.000 5126 0.290 0.081 2869 2406 2351 2397 2305 0 0 0 0 0 0 14.47 14.57 28.83

7502 1.45 146.0 2869 2406 2397 2304 325.2 13.3 434 7503 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2406 2350 2397 2304 0 0 0 0 0 0 28.83 28.83 28.83

7801 1.45 146.0 2869 2406 2397 2303 286.8 12.5 444 7802 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2406 2350 2397 2303 0 0 0 0 0 0 28.83 28.83 28.83

8101 1.45 146.0 2869 2406 2396 2303 251.1 11.8 454 8102 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2406 2350 2397 2303 0 0 0 0 0 0 28.83 28.83 28.83

8411 1.45 146.0 2869 2406 2397 2303 214.7 11.9 469 8413 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2406 2349 2397 2302 0 0 0 0 0 0 28.83 28.83 28.83

8711 1.45 146.0 2869 2406 2397 2302 179.4 11.5 484 8717 0.00 2.67 0.00 0.000 260 0.000 0.146 2868 3816 2350 2397 2303 0 0 0 0 0 0 28.83 14.69 28.83

8778 1.45 146.0 2869 3820 2397 2303 171.0 12.6 497 8784 0.00 2.45 0.00 0.000 1030 0.000 0.080 2878 2399 2350 2397 2303 0 0 0 0 0 0 28.83 14.73 28.83

9096 1.45 146.0 2878 2399 2396 2303 133.5 11.9 515 9097 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 2398 2349 2396 2303 0 0 0 0 0 0 28.83 28.83 28.83

9398 1.45 146.0 2878 2399 2397 2303 98.7 11.3 530 9403 0.00 2.45 0.00 0.000 516 0.000 0.111 2888 991 2350 2397 2304 0 0 0 0 0 0 28.83 14.72 28.83

9470 1.45 146.0 2888 991 2392 2303 90.7 10.2 544 9476 0.10 2.50 0.00 0.000 5126 0.301 0.116 2868 2404 2350 2396 2304 0 0 0 0 0 0 14.65 14.71 28.83

9783 1.51 166.5 2867 2404 2397 2304 61.0 9.1 561 9804 0.00 2.65 12.00 0.327 8452 0.000 0.148 2868 3807 2273 2314 2232 0 0 0 0 0 0 28.83 14.68 14.59

9855 1.51 166.5 2867 3807 2314 2235 53.6 10.8 575 9860 0.00 2.45 0.00 0.000 1030 0.000 0.080 2877 2396 2275 2315 2235 0 0 0 0 0 0 28.83 14.72 28.83

10168 1.56 179.7 2876 2395 2314 2234 24.3 9.4 592 10178 0.00 0.00 8.45 0.225 8198 0.000 0.000 2876 2396 2217 2260 2175 0 0 0 0 0 0 28.83 28.83 14.64

10396 end climb: SURFACE_DEPTH_REACHED

state 10397 begin surface coast

10429 end surface coast: CONTROL_FINISHED_OK

state 10429 begin surface

ID	193	HD_C	6.0000002e-06	ROLL_MAX	3841	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	140	ESCAPE_HEADING	120	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1030	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	21	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	15	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.93000001
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2951	DEVICE2	-1
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	330	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	400	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	2	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	300	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	225	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3900	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	150	C_PITCH	2550	MINV_10V	12	SEABIRD_T_G	0.0042903274
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00062837056
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_24V	0	SEABIRD_T_I	2.3004332e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.3253908e-06
RHO	1.0275	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-50.214073	SEABIRD_C_G	-9.879467
MASS	52059	PITCH_GAIN	13	PRESSURE_SLOPE	0.0001163556	SEABIRD_C_H	1.1201456
MASS_COMP	0	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00035123606
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00012622437
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0043000001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	300	ALTIM_TOP_PING_RANGE	20

GPS1	010115,173233,6659.804,-5648.198,37,0.9,42,-32.5	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.99	MHEAD_RNG_PITCHd_Wd	0.8,5941,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-58.9	D_GRID	513
GPS2	010115,173831,6659.792,-5648.066,6,0.9,6,-32.5

FREEZE	1.33,-1.007,-0.965,0,1,0	SC_FREEKB	7725120
FINISH	1.3,1.014245	_24V_AH	12.96,31.645
SM_CCo	10445,94.12,0.157,0,0,1523,350.04	_10V_AH	13.32,0.000
SM_GC	2.17,7.68,0.30,94.12,0.093,0.149,0.157,199,2548,1523,-10.66,-0.59,350.04,0,0,0,0,0,0,14.78,14.71,14.60	FG_AHR_24Vo	0.000
RAFOS_CLK	1564	FG_AHR_10Vo	0.000
RAFOS	0,1420142471,20.033333,20.019722,68,65,57,53,51,49,215,121,195,167,140,109	MEM	271024
RAFOS_FIX	6704.674805,-5657.331543,010115,161656,2,118,1.29	DATA_FILE_SIZE	20051,618
IRIDIUM_FIX	6625.71,-5652.12,010115,140922	CAP_FILE_SIZE	108144,1
TT8_MAMPS	0.025466,0.025466	CFSIZE	260034560,242946048
HUMID	44.68	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
INTERNAL_PRESSURE	8.48888	INTR	0,12318.30,0x23769e,7,5
TCM_TEMP	13.60	SOUNDSPEED	1467.0
XPDR_PINGS	3	CURRENT	0.068,138.40,1
ALTIM_TOP_PING	19.6,19.2	GPS	010115,203604,6700.690,-5649.509,33,0.8,33,-32.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	462	123.51	nil	0	0	0.00
Roll_motor	60	149	116.92	nil	0	0	0.00
VBD_pump_during_apogee	323	2083	8738.23	nil	0	0	0.00
VBD_pump_during_surface	94	156	191.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	10432	7	965.18
Iridium_during_xfer	231	148	444.88	nil	0	0	0.00
Transponder_ping	1	420	5.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	30	5.17
TT8	1461	11	223.32
LPSleep	7506	2	230.98
TT8_Active	596	11	91.16
TT8_Sampling	1225	30	505.02
TT8_CF8	127	36	61.62
TT8_Kalman	0	0	0.00
Analog_circuits	1336	11	195.89
GPS_charging	0	0	0.00
Compass	924	6	73.86
RAFOS	1440	1	28.77
Transponder	2	30	1.05

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.60	-146.0	201	2559	1521	1521	0.0	0.0	0	125	0.00	0.00	-103.35	0.000	16386	0.000	0.000	201	2559	3348	3324	3373	0	0	0	0	0	0	28.83	28.83	28.83
127	-1.60	-146.0	201	2560	3327	3372	3.2	-2.0	10	151	9.98	2.58	-5.88	0.000	18948	0.462	0.122	2192	1141	3549	3544	3554	0	0	0	0	0	0	14.35	14.51	14.73
327	-1.57	-146.0	2192	1141	3549	3554	30.5	-12.6	49	335	0.10	2.55	0.00	0.000	3078	0.331	0.117	2203	2549	3552	3550	3554	0	0	0	0	0	0	14.47	14.54	28.83
633	-1.57	-146.0	2203	2549	3549	3553	67.8	-12.2	65	639	0.00	2.42	0.00	0.000	260	0.000	0.142	2194	3833	3551	3549	3554	0	0	0	0	0	0	28.83	14.59	28.83
716	-1.54	-146.0	2195	3833	3550	3553	78.2	-12.5	81	723	0.00	2.20	0.00	0.000	1030	0.000	0.063	2194	2538	3551	3548	3554	0	0	0	0	0	0	28.83	14.66	28.83
1040	-1.54	-146.0	2194	2538	3550	3553	111.2	-9.4	100	1045	0.00	2.40	0.00	0.000	516	0.000	0.100	2194	1149	3550	3549	3552	0	0	0	0	0	0	28.83	14.66	28.83
1167	-1.54	-146.0	2194	1149	3549	3551	124.0	-10.5	125	1173	0.12	2.53	0.00	0.000	3078	0.322	0.116	2213	2560	3550	3549	3551	0	0	0	0	0	0	14.56	14.65	28.83
1486	-1.57	-146.0	2213	2559	3549	3548	153.2	-9.1	143	1492	0.00	2.47	0.00	0.000	516	0.000	0.103	2214	1147	3549	3550	3549	0	0	0	0	0	0	28.83	14.68	28.83
1570	-1.57	-146.0	2213	1147	3549	3549	161.2	-9.9	159	1575	0.00	2.53	0.00	0.000	1030	0.000	0.120	2207	2552	3549	3549	3549	0	0	0	0	0	0	28.83	14.67	28.83
1893	-1.57	-146.0	2206	2553	3549	3549	190.8	-9.3	178	1894	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2553	3549	3549	3549	0	0	0	0	0	0	28.83	28.83	28.83
2193	-1.57	-146.0	2206	2553	3549	3549	219.3	-9.6	193	2194	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2552	3549	3549	3549	0	0	0	0	0	0	28.83	28.83	28.83
2493	-1.57	-146.0	2206	2553	3549	3549	246.6	-9.0	208	2499	0.00	2.45	0.00	0.000	516	0.000	0.103	2206	1140	3549	3549	3549	0	0	0	0	0	0	28.83	14.73	28.83
2550	-1.57	-146.0	2206	1140	3549	3549	252.0	-9.1	219	2557	0.00	2.53	0.00	0.000	1030	0.000	0.120	2200	2549	3549	3549	3549	0	0	0	0	0	0	28.83	14.71	28.83
2857	-1.57	-146.0	2200	2549	3550	3549	279.1	-8.5	230	2859	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2549	3549	3550	3549	0	0	0	0	0	0	28.83	28.83	28.83
3156	-1.57	-146.0	2200	2549	3550	3549	302.9	-7.7	240	3162	0.00	2.45	0.00	0.000	516	0.000	0.109	2200	1150	3550	3551	3549	0	0	0	0	0	0	28.83	14.75	28.83
3205	-1.57	-146.0	2200	1150	3551	3549	306.8	-8.3	249	3211	0.00	2.50	0.00	0.000	1030	0.000	0.122	2193	2550	3549	3550	3548	0	0	0	0	0	0	28.83	14.74	28.83
3526	-1.57	-146.0	2193	2550	3551	3549	332.1	-7.9	262	3527	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2549	3550	3551	3549	0	0	0	0	0	0	28.83	28.83	28.83
3824	-1.57	-146.0	2196	2550	3551	3549	355.7	-8.1	272	3825	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2547	3550	3552	3549	0	0	0	0	0	0	28.83	28.83	28.83
4124	-1.57	-146.0	2193	2550	3549	3556	380.5	-8.0	282	4125	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	2550	3548	3552	3544	0	0	0	0	0	0	28.83	28.83	28.83
4424	-1.57	-146.0	2193	2550	3552	3549	404.5	-7.9	292	4425	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2549	3550	3552	3549	0	0	0	0	0	0	28.83	28.83	28.83
4724	-1.57	-146.0	2193	2549	3552	3550	428.2	-8.0	302	4725	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2549	3551	3552	3551	0	0	0	0	0	0	28.83	28.83	28.83
5024	-1.57	-146.0	2193	2550	3554	3551	451.2	-7.4	312	5029	0.00	2.45	0.00	0.000	516	0.000	0.112	2193	1143	3552	3554	3550	0	0	0	0	0	0	28.83	14.78	28.83
5111	-1.57	-146.0	2194	1143	3554	3550	458.1	-8.5	329	5119	0.10	2.53	0.00	0.000	3078	0.330	0.125	2205	2552	3552	3554	3550	0	0	0	0	0	0	14.69	14.77	28.83
5419	-1.60	-146.0	2206	2552	3555	3551	480.5	-7.4	340	5420	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2552	3553	3554	3552	0	0	0	0	0	0	28.83	28.83	28.83
5718	-1.62	-146.0	2206	2552	3556	3553	502.7	-7.4	350	5723	0.00	2.47	0.00	0.000	516	0.000	0.113	2207	1143	3554	3556	3553	0	0	0	0	0	0	28.83	14.78	28.83
5765	-1.65	-146.0	2207	1143	3556	3552	506.4	-7.4	359	5771	0.00	2.53	0.00	0.000	1030	0.000	0.125	2200	2549	3554	3556	3553	0	0	0	0	0	0	28.83	14.77	28.83
5871	end dive: TARGET_DEPTH_EXCEEDED
state	5871	begin apogee
5876	-0.38	0.0	2200	2400	3555	3553	514.5	-7.7	365	6033	0.93	0.00	148.02	2.083	10246	0.245	0.000	2461	2400	2951	2973	2930	0	0	0	0	1	0	14.69	28.83	13.15
6034	end apogee: CONTROL_FINISHED_OK
state	6034	begin climb
6036	1.60	146.0	2462	2400	2973	2933	515.9	0.0	370	6203	1.45	0.00	155.20	2.081	10246	0.152	0.000	2901	2400	2356	2401	2311	0	0	0	0	1	0	13.87	28.83	12.96
6504	1.57	146.0	2901	2399	2401	2307	459.4	13.5	386	6505	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	2399	2354	2401	2307	0	0	0	0	0	0	28.83	28.83	28.83
6804	1.54	146.0	2901	2400	2399	2305	419.6	13.4	396	6805	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	2400	2352	2399	2305	0	0	0	0	0	0	28.83	28.83	28.83
7104	1.52	146.0	2901	2400	2397	2304	378.7	13.6	406	7109	0.00	2.70	0.00	0.000	260	0.000	0.147	2901	3814	2351	2397	2305	0	0	0	0	0	0	28.83	14.52	28.83
7181	1.45	146.0	2901	3814	2397	2305	366.7	15.8	421	7188	0.17	2.47	0.00	0.000	5126	0.290	0.081	2869	2406	2351	2397	2305	0	0	0	0	0	0	14.47	14.57	28.83
7502	1.45	146.0	2869	2406	2397	2304	325.2	13.3	434	7503	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2406	2350	2397	2304	0	0	0	0	0	0	28.83	28.83	28.83
7801	1.45	146.0	2869	2406	2397	2303	286.8	12.5	444	7802	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2406	2350	2397	2303	0	0	0	0	0	0	28.83	28.83	28.83
8101	1.45	146.0	2869	2406	2396	2303	251.1	11.8	454	8102	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2406	2350	2397	2303	0	0	0	0	0	0	28.83	28.83	28.83
8411	1.45	146.0	2869	2406	2397	2303	214.7	11.9	469	8413	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2406	2349	2397	2302	0	0	0	0	0	0	28.83	28.83	28.83
8711	1.45	146.0	2869	2406	2397	2302	179.4	11.5	484	8717	0.00	2.67	0.00	0.000	260	0.000	0.146	2868	3816	2350	2397	2303	0	0	0	0	0	0	28.83	14.69	28.83
8778	1.45	146.0	2869	3820	2397	2303	171.0	12.6	497	8784	0.00	2.45	0.00	0.000	1030	0.000	0.080	2878	2399	2350	2397	2303	0	0	0	0	0	0	28.83	14.73	28.83
9096	1.45	146.0	2878	2399	2396	2303	133.5	11.9	515	9097	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	2398	2349	2396	2303	0	0	0	0	0	0	28.83	28.83	28.83
9398	1.45	146.0	2878	2399	2397	2303	98.7	11.3	530	9403	0.00	2.45	0.00	0.000	516	0.000	0.111	2888	991	2350	2397	2304	0	0	0	0	0	0	28.83	14.72	28.83
9470	1.45	146.0	2888	991	2392	2303	90.7	10.2	544	9476	0.10	2.50	0.00	0.000	5126	0.301	0.116	2868	2404	2350	2396	2304	0	0	0	0	0	0	14.65	14.71	28.83
9783	1.51	166.5	2867	2404	2397	2304	61.0	9.1	561	9804	0.00	2.65	12.00	0.327	8452	0.000	0.148	2868	3807	2273	2314	2232	0	0	0	0	0	0	28.83	14.68	14.59
9855	1.51	166.5	2867	3807	2314	2235	53.6	10.8	575	9860	0.00	2.45	0.00	0.000	1030	0.000	0.080	2877	2396	2275	2315	2235	0	0	0	0	0	0	28.83	14.72	28.83
10168	1.56	179.7	2876	2395	2314	2234	24.3	9.4	592	10178	0.00	0.00	8.45	0.225	8198	0.000	0.000	2876	2396	2217	2260	2175	0	0	0	0	0	0	28.83	28.83	14.64
10396	end climb: SURFACE_DEPTH_REACHED
state	10397	begin surface coast
10429	end surface coast: CONTROL_FINISHED_OK
state	10429	begin surface